Decentralized Safe Reactive Planning under TWTL Specifications
Ryan Peterson,Ali Tevfik Buyukkocak,Derya Aksaray,Yasin Yazıcıoglu,Ryan Peterson,Ali Tevfik Buyukkocak,Derya Aksaray,Yasin Yazıcıoglu
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification defined over a 3D environment. We propose a decentralized receding horizon algorithm for online planning of trajectories. We show that when the environment is suff...
